E. Costemaniere et al., VISUAL SERVOING IN THE TASK-FUNCTION FRAMEWORK - A CONTOUR FOLLOWING TASK, Journal of intelligent & robotic systems, 12(1), 1995, pp. 1-21
Citations number
25
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
We describe an approach to contour following unknown objects using a h
and-eye robotic system. Relevant and sufficient feature points providi
ng optical flow data are extracted from the edges of the target object
. The desired motion of the end-effector is computed with the objectiv
e of keeping the visual features always at the same target location in
the image plane. A cartesian PD controller is used to perform the des
ired motion by the robot's end-effector. To address the control issues
, we take advantage of the unifying robot control theory stated in the
literature as the task-function approach [21]. To validate our approa
ch, we restricted our experiments to motionless objects positioned in
a plane parallel to the image plane: three degrees of freedom (two of
translation, one of rotation) are thus controlled.